|
Zhao Jing
Jing Hongmei
Nie Lin
College of Mechanical Engineering & Electronics Technology,
Beijing Polytechnic University,
Beijing 100022, China |
|
|
MOTION PLANNING
BASED ON TWO
NEW FAULT TOLERANT INDEXES
FOR REDUNDANT MANIPULATORS*
Abstract: A new physical meaning of manipulability measure is given. Reduced manipulability is analyzed, and arm length index and rotation angle index which express fault tolerant workspace and actual manipulability respectively are proposed. Synchronous fault tolerant planning of joint motion and end-effector motion is researched by simulation examples for a planar 3R manipulator. Research results show that the maximization of rotation angle index can avoid the singular configuration of the reduced manipulator at a failure moment, while the maximization of arm length index can avoid the singular configuration of the reduced manipulator after a failure.
Key words:
Motion planning Redundant manipulator Fault tolerant indexes
|